CN110735647B - Eccentric hob roadheader that does not affect support operations and can break rock according to a predetermined path - Google Patents

Abstract

The invention discloses an eccentric hob-type roadheader that does not affect the support operation and can break rocks according to a predetermined path. , sliding seat, transmission box, hydraulic motor, rotary sliding device of hob arm, hob arm, low-speed high-torque motor, eccentric disc hob, control center, loading device, conveying device, temporary support device and auxiliary working platform, etc. composition. The invention has simple, compact and reliable structure, convenient installation and disassembly, fully utilizes the low tensile strength of hard rock mass, has strong rock breaking ability and high efficiency; The rock-breaking load of the cutter milling is small, the performance is high, the efficiency is high, and the hob rotates eccentrically, which can make the hob achieve the effect of vibration milling and rock-breaking, thereby further improving the rock-breaking performance of the hob.

Description

Eccentric hob roadheader that does not affect support operations and can break rock according to a predetermined path

technical field

The invention belongs to the technical field of coal mining, and relates to a roadheader, in particular to an eccentric hob-type roadheader that does not affect support operations and can break rocks according to a predetermined path.

Background technique

In 2018, the BP World Energy Statistical Yearbook pointed out: China is still the world's largest energy consumer, accounting for 23.2% of global consumption and 33.6% of global net growth; coal resource consumption accounts for 60.4% of total consumption, and in the future For a long period of time, it has an irreplaceable position as the main energy source in my country. With the increasing demand for coal energy in our country, the imbalance of mining ratio due to the difficulty of excavating rock tunnels has become the main reason for restricting coal mining in my country. Today, with the mature application of coal mining mechanized mining, the mining efficiency has been greatly improved, and the phenomenon of unbalanced mining ratio has become more prominent. bottleneck". Especially for the hard rock with Platts hardness coefficient f≥10, the impact and wear of the tunneling working mechanism and its installation tools will increase during construction. In addition to the space limitation, the working environment of the tunneling equipment is even worse, making the tunneling working mechanism in the hard The tunneling effect of rock roadway is poor, and the driving cost is high.

In the existing technology, the drilling and blasting method and mechanical picks are mostly used in the excavation of coal mine roadways. Although the drilling and blasting method has high efficiency and strong applicability to the stratum, it has a large amount of dust and toxic gas emissions, and it is easy to cause gas. Major accidents such as explosions are not conducive to the safe, efficient and green mining of ore resources. However, mechanical picks are difficult to break hard rock and have a large load. The picks are easily damaged and need to be replaced frequently. The driving efficiency of rock roadways is low and the cost is high. Downhole tests have proved that the method of picking and milling rock breaking is difficult to achieve economical driving of hard rock roadways.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an eccentric hob-type roadheader that does not affect the support operation and can break rock according to a predetermined path, making full use of the eccentric disc-shaped hob with the characteristics of small vibration milling load, high performance and high efficiency, and realizes hard The rapid crushing of the rock increases the driving speed of the coal mine roadway.

In order to achieve the above purpose, the technical solution adopted in the present invention is as follows: an eccentric hob-type roadheader that does not affect the support operation and can break rocks according to a predetermined path, including a crawler traveling mechanism, a frame, a hydraulic pump station, a power box, Sliding guide base, propulsion cylinder I, sliding seat, transmission box, rotary sliding device of hob arm, hob arm, low-speed high-torque motor, eccentric disc hob, control box, loading device, conveying device, temporary support device and auxiliary work platforms;

The frame is installed on the crawler traveling mechanism, and the hydraulic pump station, the power supply box, the sliding guide rail base, the temporary support device and the auxiliary work platform are all installed on the frame, wherein the hydraulic pump station and the The power box is located at the rear of the rack and is symmetrically arranged, the sliding track base is located at the front end of the hydraulic pump station and the power box, the loading device is installed at the front end of the rack, and the conveying device is installed on the loading device In the middle, under the frame, the sliding seat is slidably installed on the sliding guide rail base, and is connected with the sliding guide rail base through two propelling oil cylinders I, and the transmission box is installed at the front end of the sliding seat , Two hydraulic motors are symmetrically installed on the box body of the transmission case, the output shaft of the hydraulic motor is connected with the input shaft of the transmission case, and the gear I installed on the input shaft of the transmission case meshes with the gear II installed on the output shaft of the transmission case , the rotary sliding device of the hob arm is installed at the front end of the output shaft of the transmission box, and the rotary sliding device of the hob arm comprises a casing with a cuboid structure, the upper end of the casing is fixed with an oil cylinder mounting plate, and the casing is An E-shaped groove is provided, the hob arm is inserted into the E-shaped groove and connected to the cylinder mounting plate through the push cylinder II, the low-speed and high-torque motor is installed at the front end of the hob arm, and the eccentric disc-shaped hob is eccentric. Installed on the output shaft of the low-speed high-torque motor;

The propulsion cylinder I, the hydraulic motor, the propulsion cylinder II, the temporary support device and the auxiliary operation platform are respectively connected with the hydraulic pump station through the hydraulic oil circuit, the control box is installed on the upper end of the power box, and the low-speed high The torque motor and the control box are respectively electrically connected with the power box.

Further, the eccentric disc-shaped hob includes a disc-shaped cutter head, the front end of the disc-shaped cutter head is inlaid with a plurality of mechanical picks, and a plurality of alloy heads are welded on the circumference of the disc-shaped cutter head. The rear end of the cutter head is machined with a hole for installing the output shaft of the low-speed and high-torque motor, and a keyway is machined in the hole.

Preferably, the axis of the hole is offset by 2-5 cm from the axis of the disc-shaped hob, so that the eccentric disc-shaped hob will vibrate to a certain degree during the rotation process.

Preferably, the material of the mechanical pick is cemented carbide, and the mechanical pick presents an Archimedes spiral array at the front end of the disc-shaped cutter head, and the rotation direction is counterclockwise.

More preferably, there are a total of 12 Archimedes spirals in the array.

Preferably, the alloy head material is cemented carbide, and the alloy heads are equally spaced on the circumference of the disc-shaped cutter head.

Preferably, the steering of the low-speed and high-torque motor is counterclockwise, which can reduce the load of the mechanical picks when breaking rock according to the shape of the spirals arranged by the mechanical picks.

Further, the hob arm includes an arm body with a cuboid structure, and two parallel and equal-width rectangular guide grooves are opened on the front end surface of the arm body, and the hob arm is realized in the Positioning in the rotary slide of the reel arm.

Further, the temporary support device is composed of four propulsion oil cylinders III and an arched support shed, the arched support shed is installed on the upper ends of the four propulsion oil cylinders III, and the lower ends of the four propulsion oil cylinders III are fixedly installed on the frame, The four propelling oil cylinders III are respectively connected with the hydraulic pump station through hydraulic oil circuits.

Further, the auxiliary working platform is composed of four propulsion cylinders IV and a working platform, the working platform is installed on the upper ends of the four propulsion cylinders IV, the lower ends of the four propulsion cylinders IV are fixedly installed on the frame, and the four propulsion cylinders IV They are respectively connected with the hydraulic pump stations through hydraulic oil circuits.

Compared with the prior art, the present invention has the following beneficial effects:

The invention is simple, compact and reliable in structure, easy to install and disassemble, makes full use of the low tensile strength of hard rock mass, has strong rock breaking ability and high efficiency; The rock-breaking load of the cutter milling is small, the performance is high, the efficiency is high, and the hob rotates eccentrically, which can make the hob achieve the effect of vibration milling and rock-breaking, thereby further improving the rock-breaking performance of the hob. The front end of the hob cutter head is equipped with several mechanical picks, which can partially break the rock through the picks, so that the hob can be quickly lowered without being affected by the milling angle of the hob. The sliding seat moves back and forth, which can not only provide huge thrust in the process of locally crushing the rock by the pick, but also realize the crushing of rocks of different depths when the roadheader is stationary, avoiding the crawler traveling mechanism to move once in one driving cycle, thereby improving the roadway excavation. In addition, when drilling and milling, the crawler traveling mechanism and the frame do not move, which will not affect the temporary support operation and auxiliary operation, which is of great significance to realize the efficient excavation of hard rock roadways.

Description of drawings

1 is a schematic diagram of an eccentric hob-type roadheader of the present invention that does not affect the support operation and can break rock according to a predetermined path;

Fig. 2 is the structure schematic diagram of the transmission case of the present invention;

3 is a partial section of the front view of the rotary sliding device of the hob arm of the present invention;

FIG. 4 is a partial cross-section of the left side view of the rotary sliding device of the hob arm of the present invention;

Figure 5 is an axial view of the housing of the present invention;

Figure 6 is an axial view of the hob arm of the present invention;

7 is a partial section of the front view of the eccentric disc hob of the present invention;

Figure 8 is an axial view of the eccentric disc hob of the present invention;

Fig. 9 is the schematic diagram of the milling route of the eccentric disc hob of the present invention;

In the figure: 1—crawler traveling mechanism; 2—frame; 3—hydraulic pump station; 4—power box; 5—slide rail base; 6—propulsion cylinder I; 7—slide seat; 8—transmission box; 8— 1—input shaft of transmission case; 8-2—gear I; 8-3—gear II; 8-4—output shaft of transmission case; 8-5—box body; 9—hydraulic motor; 10—revolving sliding device of hob arm ;10-1—shell; 10-1-1—E-slot; 10-2—propulsion cylinder II; 10-3—cylinder mounting plate; 11—hob arm; 11-1—arm body; 11-2 - Rectangular guide groove; 12 - low speed and high torque motor; 13 - eccentric disc hob; 13-1 - disc cutter; 13-2 - mechanical pick; 13-3 - hole; 13-4 - keyway; 13-5—alloy head; 14—control box; 15—loading device; 16—conveying device; 17—temporary support device; 18—auxiliary work platform.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1, an eccentric hob-type roadheader that does not affect the support operation and can break rocks according to a predetermined path includes a crawler traveling mechanism 1, a frame 2, a hydraulic pump station 3, a power box 4, a sliding Guide rail base 5, propelling cylinder I6, sliding seat 7, transmission box 8, hob arm rotating sliding device 10, hob arm 11, low speed high torque motor 12, eccentric disc hob 13, control box 14, loading device 15 , conveying device 16 , temporary support device 17 and auxiliary working platform 18 .

The frame 2 is the link of the various components of the roadheader of the present invention. The crawler traveling mechanism 1 is installed under the frame 2 to realize the driving of the roadheader. The hydraulic pump station 3, the power box 4, the sliding guide rail base 5, Both the temporary support device 17 and the auxiliary working platform 18 are installed on the frame 2, wherein the hydraulic pump station 3 and the power box 4 are located at the rear of the frame 2, and are arranged symmetrically on the left and right. The loading device 15 is installed at the front end of the frame 2, at the A conveying device 16 is installed in the middle of the loading device 15 and under the frame 2 for conveying the milled and crushed rocks out of the roadway. The two propelling oil cylinders I6 are connected, and the sliding seat 7 can be moved back and forth on the sliding guide rail base 5 by controlling the expansion and contraction of the piston rod of the propelling oil cylinder I6.

As shown in Figures 1 and 2, the transmission case 8 is installed at the front end of the sliding seat 7, the transmission case includes a case body 8-5, and two hydraulic motors 9 are symmetrically installed on the case body 8-5 of the transmission case, The box body 8-5 is provided with two transmission box input shafts 8-1 and one transmission box output shaft 8-4. The output shaft of the hydraulic motor 9 is connected with the transmission box input shaft 8-1 and is installed in the transmission box. The two gears I8-2 on the input shaft 8-1 of the case mesh respectively with the two gears II8-3 mounted on the output shaft 8-4 of the transmission case.

As shown in Fig. 1, Fig. 3 to Fig. 5, the hob arm rotating and sliding device 10 is installed at the front end of the output shaft 8-4 of the transmission case, and the hob arm rotating and sliding device 10 includes a casing 10-1 in the shape of a cuboid The upper end of the casing 10-1 is fixed with an oil cylinder mounting plate 10-3, and an E-shaped groove 10-1-1 is arranged in the casing 10-1.

As shown in FIG. 6 , the hob arm 11 includes an arm body 11-1 having a cuboid structure, and two parallel rectangular guide grooves 11-2 of equal width are formed on the front end surface of the arm body 11-1. The width of the arm body 11-1 is adapted to the width of the E-shaped groove 10-1-1. The hob arm 11 is inserted into the E-shaped groove 10-1-1 and is connected to the cylinder mounting plate 10-3 through the push cylinder II10-2, and the hob arm 11 can be opposed to each other by controlling the expansion and contraction of the piston rod of the push cylinder II10-2. When the hob arm rotating sliding device 10 slides, the hob arm rotating sliding device 10 can be rotated by controlling the rotation angle of the output shafts of the two hydraulic motors 9 , so that the hob arm 11 can rotate.

As shown in FIG. 1 , FIG. 7 , and FIG. 8 , the low-speed high-torque motor 12 is installed at one end of the hob arm 11 , and the eccentric disc-shaped hob 13 includes a disc-shaped cutter head 13 - 1 . The front end of the cutter head 13-1 is inlaid with a plurality of mechanical picks 13-2. The mechanical picks 13-2 are made of cemented carbide with high hardness and good wear resistance. The mechanical picks 13-2 are in the disc-shaped cutter The front end of the disk 13-1 presents an array of Archimedes spirals, and the direction of rotation is counterclockwise. There are 12 Archimedes spirals in the array in this embodiment. A plurality of alloy heads 13-5 are welded on the circumference of the disc-shaped cutter head 13-1. The alloy heads 13-5 are made of cemented carbide with high hardness and good wear resistance. The cutter head 13-1 is equally spaced on the circumference. A hole 13-3 is machined at the rear end of the disc-shaped cutter head 13-1, and the axis of the hole 13-3 is offset from the axis of the disc-shaped cutter head 13-1 by 2-5 cm. The keyway 13-4 is machined, and the eccentric disc hob 13 is eccentrically installed on the output shaft of the low-speed and high-torque motor 12 through the hole 13-3. Due to the eccentric installation, the eccentric disc hob 13 will produce a certain amount of damage during the milling process. Vibration, low-speed high-torque motor 12 drives eccentric disc hob 13 to drill and vibrate hard rock, and the milling route is shown in Figure 9. The steering of the low-speed high-torque motor 12 is counterclockwise, which can reduce the load of the mechanical picks 13-2 during rock breaking according to the shape of the spirals arrayed by the mechanical picks 13-2.

In the process of drilling and milling, the eccentric disc hob 13 can keep the frame 2 still, and the movement is realized by controlling the sliding seat 7 to slide on the sliding guide base 5, so the eccentric disc hob 13 can move. Temporary supports and auxiliary operations are not affected during drilling and milling.

As shown in FIG. 1 , the temporary support device 17 is composed of four propulsion cylinders III and an arched support shed. The arched support shed is installed on the upper ends of the four propulsion cylinders III, and the lower ends of the four propulsion cylinders III are fixedly installed on the on the rack. The auxiliary working platform 18 is composed of four propulsion cylinders IV and a working platform. The working platform is installed on the upper ends of the four propulsion cylinders IV, and the lower ends of the four propulsion cylinders IV are fixedly installed on the frame.

The propulsion cylinder I6, the hydraulic motor 9, the propulsion cylinder II10-2, the propulsion cylinder III and the propulsion cylinder IV are respectively connected with the hydraulic pump station 3 through the hydraulic oil circuit, and the hydraulic pump station 3 provides it with high pressure oil.

The control box 14 is installed on the upper end of the power box 4, and can control the movement of each part of the roadheader according to a preset program. The power box 4 is electrically connected to the low-speed and high-torque motor 12 and the control box 14 respectively, and the power box 4 provides electrical energy for them.

Working principle: When using the eccentric hob-type roadheader that does not affect the support operation and can break rocks according to a predetermined path for roadway excavation, the hydraulic pump station 3 is powered by the power system of the working face, and the hydraulic pump station 3 is formed after being powered on. High-pressure oil: high-pressure oil is supplied to the propulsion cylinder I6, which can make the propulsion cylinder I6 output the propulsion force through the sliding seat 7, the transmission box 8, the rotary sliding device 10 of the hob arm and the hob arm 11 to realize the front and rear of the eccentric disc-shaped hob 13. Move; high-pressure oil is supplied to the hydraulic motor 9, so that the hydraulic motor 9 outputs power, through the transmission box input shaft 8-1, the gear I8-2, the gear II8-3, the transmission box output shaft 8-4, and the rotary sliding device of the hob arm 10 and the hob arm 11 to realize the eccentric disc-shaped hob 13 moving in the circumferential direction of the milling face; high-pressure oil is supplied to the propulsion cylinder II10-2, so that the output propulsion force of the propulsion cylinder II10-2 can be transmitted through the hob arm 11 to the The eccentric disc-shaped hob 13 makes the eccentric disc-shaped hob 13 move in the normal direction on the milling working surface; the high-pressure oil is supplied to the temporary support device 17, so that the temporary support device 17 completes the support of the roadway; the high-pressure oil supply The auxiliary work platform 18 is adjusted to a suitable height to complete the auxiliary work (such as anchoring and guarding). The power box 4 powers the control box 14 and the low speed high torque motor 12 . First, the milling route of the eccentric disc hob 13 is designed according to the area of the tunnel section to be dug, and input to the control box 14 . Then, the control box 14 controls the propulsion cylinder I6 to shorten the piston rod to the shortest, so that the eccentric disc hob 13 moves to the last end of the propulsion stroke; controls the propulsion cylinder II10-2 to shorten the piston rod to the shortest, so that the disc hob 13 Move to the starting point of the milling route; control the movement of the crawler traveling mechanism 1 to move the roadheader to an appropriate position as a whole. The temporary support device 17 is controlled to rise to complete the temporary support for the roadway. Start the low-speed and high-torque motor 12 to make the eccentric disc hob 13 rotate, and at the same time, control the extension of the piston rod of the propulsion cylinder I6, so that the eccentric disc hob 13 drills a 5-10cm deep hole in the rock, lock the Dead propulsion cylinder I6. Finally, the hydraulic motor 9 and the propulsion cylinder II10-2 are controlled at the same time, so that the eccentric disc hob 13 rotates according to the preset route to mill and break the hard rock, while the eccentric disc hob 13 is milling and breaking the hard rock, the auxiliary can be adjusted. The height of the work platform in order to complete some auxiliary work (such as anchors, guards). When the excavation of one section is completed, adjust the propulsion cylinder I6, hydraulic motor 9 and propulsion cylinder II10-2 in the same way to proceed to the next section, and repeat the above process continuously. When the piston rod of the propulsion cylinder I6 reaches the longest When it is in position, exit the temporary support device 17, shrink the piston rod of the propulsion cylinder I6 to the shortest, and control the crawler traveling mechanism 1 to make the roadheader move forward to a suitable position, and continue the roadheading work, and so on and forth until the roadheading is completed. , During the above-mentioned tunnel excavation process, the broken stone is transported out of the tunnel through the loading device 15 and the conveying device 16 .

Claims (10)

1. An eccentric hob type heading machine which does not affect supporting operation and can break rock according to a preset path is characterized by comprising a crawler traveling mechanism (1), a frame (2), a hydraulic pump station (3), a power supply box (4), a sliding guide rail base (5), a propulsion oil cylinder I (6), a sliding seat (7), a transmission box (8), a hob arm rotating sliding device (10), a hob arm (11), a low-speed large-torque motor (12), an eccentric disc hob (13), a control box (14), a loading device (15), a conveying device (16), a temporary supporting device (17) and an auxiliary operation platform (18);

the frame (2) is installed on the crawler traveling mechanism (1), the hydraulic pump station (3), the power supply box (4), the sliding guide rail base (5), the temporary supporting device (17) and the auxiliary operation platform (18) are all installed on the frame (2), wherein the hydraulic pump station (3) and the power supply box (4) are located at the tail of the frame (2) and are arranged in a bilateral symmetry mode, the sliding guide rail base (5) is located at the front ends of the hydraulic pump station (3) and the power supply box (4), the loading device (15) is installed at the front end of the frame (2), the conveying device (16) is installed in the middle of the loading device (15) and below the frame (2), the sliding seat (7) is installed on the sliding guide rail base (5) in a sliding mode and is connected with the sliding guide rail base (5) through two propulsion oil cylinders I (6), the rotary type hobbing cutter arm sliding device is characterized in that the transmission case (8) is installed at the front end of the sliding seat (7), two hydraulic motors (9) are symmetrically installed on a case body of the transmission case (8), an output shaft of each hydraulic motor (9) is connected with an input shaft (8-1) of the transmission case, a gear I (8-2) installed on the input shaft (8-1) of the transmission case is meshed with a gear II (8-3) installed on the output shaft (8-4) of the transmission case, the hobbing cutter arm rotary sliding device (10) is installed at the front end of the output shaft (8-4) of the transmission case, the hobbing cutter arm rotary sliding device (10) comprises a casing (10-1) in a cuboid structure, an oil cylinder installation plate (10-3) is fixed at the upper end of the casing (10-1), an E-shaped groove (10-1-1) is formed in the casing (10-, the hob arm (11) is inserted into an E-shaped groove (10-1-1) and connected with the oil cylinder mounting plate (10-3) through a propulsion oil cylinder II (10-2), the low-speed large-torque motor (12) is mounted at the front end of the hob arm (11), and the eccentric disc hob (13) is eccentrically mounted on an output shaft of the low-speed large-torque motor (12);

the device is characterized in that the propulsion oil cylinder I (6), the hydraulic motor (9), the propulsion oil cylinder II (10-2), the temporary supporting device (17) and the auxiliary operation platform (18) are respectively connected with the hydraulic pump station (3) through hydraulic oil paths, the control box (14) is installed at the upper end of the power box (4), and the low-speed large-torque motor (12) and the control box (14) are respectively and electrically connected with the power box (4).

2. The eccentric hob type heading machine which does not affect the supporting operation and can break the rock according to the preset path as claimed in claim 1, wherein the eccentric disc cutter (13) comprises a disc-shaped cutter head (13-1), a plurality of mechanical cutting picks (13-2) are embedded at the front end of the disc-shaped cutter head (13-1), a plurality of alloy heads (13-5) are welded on the circumference of the disc-shaped cutter head (13-1), a hole (13-3) for installing an output shaft of the low-speed large-torque motor (12) is processed at the rear end of the disc-shaped cutter head (13-1), and a key groove (13-4) is processed in the hole (13-3).

3. An eccentric hob-type heading machine which does not affect the supporting work and can break rock along a predetermined path according to claim 2, characterized in that the axis of the hole (13-3) is offset from the axis of the disc-shaped cutter head (13-1) by 2-5 cm.

4. The eccentric hob type heading machine which does not affect the supporting operation and can break rock according to the preset path is characterized in that the material of the mechanical cutting pick (13-2) is hard alloy, the mechanical cutting pick (13-2) presents an Archimedes spiral line array at the front end of the disc-shaped cutter head (13-1), and the rotation direction is anticlockwise.

5. An eccentric rotary cutter type heading machine which does not affect the supporting operation and can break rock along a predetermined path as claimed in claim 4 wherein there are 12 Archimedes spiral lines in the array.

6. An eccentric hob type heading machine which does not affect the supporting work and can break rock according to the preset path, according to the claim 2, characterized in that the alloy head (13-5) material is hard alloy, and the alloy heads (13-5) are distributed on the circumference of the disc-shaped cutter head (13-1) at equal intervals.

7. An eccentric hob type heading machine which does not affect the shoring work and can break rock along a predetermined path according to claim 1, characterized in that the direction of rotation of the low speed high torque motor (12) is counterclockwise.

8. The eccentric hob type heading machine which does not affect the supporting operation and can break rocks according to the preset path according to the claim 1, characterized in that the hob arm (11) comprises an arm body (11-1) which is of a cuboid structure, two parallel rectangular guide grooves (11-2) with the same width are arranged on the front end surface of the arm body (11-1), and the hob arm (11) realizes the positioning in the hob arm rotating sliding device (10) through the two rectangular guide grooves (11-2).

9. The eccentric hob type heading machine which does not affect the supporting operation and can break rocks according to the preset path according to claim 1, is characterized in that the temporary supporting device (17) is composed of four propulsion cylinders III and an arched supporting shed, the arched supporting shed is installed at the upper ends of the four propulsion cylinders III, the lower ends of the four propulsion cylinders III are fixedly installed on the frame, and the four propulsion cylinders III are respectively connected with the hydraulic pump station (3) through hydraulic oil paths.

10. The eccentric hob type heading machine which does not affect the supporting operation and can break rocks according to the preset path according to claim 1, is characterized in that the auxiliary operation platform (18) is composed of four propulsion cylinders IV and an operation platform, the operation platform is installed at the upper ends of the four propulsion cylinders IV, the lower ends of the four propulsion cylinders IV are fixedly installed on the frame, and the four propulsion cylinders IV are respectively connected with the hydraulic pump station (3) through hydraulic oil paths.

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